Generating informative paths for persistent sensing in unknown environments

D. Soltero, M. Schwager, D. Rus
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引用次数: 42

Abstract

We present an online algorithm for a robot to shape its path to a locally optimal configuration for collecting information in an unknown dynamic environment. As the robot travels along its path, it identifies both where the environment is changing, and how fast it is changing. The algorithm then morphs the robot's path online to concentrate on the dynamic areas in the environment in proportion to their rate of change. A Lyapunov-like stability proof is used to show that, under our proposed path shaping algorithm, the path converges to a locally optimal configuration according to a Voronoi-based coverage criterion. The path shaping algorithm is then combined with a previously introduced speed controller to produce guaranteed persistent monitoring trajectories for a robot in an unknown dynamic environment. Simulation and experimental results with a quadrotor robot support the proposed approach.
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生成在未知环境中持续感知的信息路径
我们提出了一种在线算法,用于机器人在未知动态环境中将其路径塑造为局部最优配置以收集信息。当机器人沿着它的路径行进时,它可以识别环境变化的位置,以及环境变化的速度。然后,该算法在线改变机器人的路径,使其专注于环境中与变化速度成比例的动态区域。利用类lyapunov稳定性证明表明,在我们提出的路径整形算法下,路径根据基于voronoi的覆盖准则收敛到局部最优配置。然后,将路径整形算法与先前引入的速度控制器相结合,为未知动态环境中的机器人产生有保证的持续监控轨迹。四旋翼机器人的仿真和实验结果支持了该方法。
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